Allow using polylines as a collider shape.

3 files changed, 35 insertions, 53 deletions

diff --git a/src_testbed/objects/mod.rs b/src_testbed/objects/mod.rs
index e4d7bc4..8e12dbe 100644
--- a/src_testbed/objects/mod.rs
+++ b/src_testbed/objects/mod.rs
@@ -7,6 +7,7 @@ pub mod cylinder;
 pub mod heightfield;
 pub mod mesh;
 pub mod node;
+pub mod polyline;
 //pub mod plane;
 //#[cfg(feature = "dim2")]
 //pub mod polyline;
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index d1de799..64c8ad4 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -5,8 +5,7 @@ use crate::objects::convex::Convex;
 use crate::objects::heightfield::HeightField;
 use crate::objects::mesh::Mesh;
 //use crate::objects::plane::Plane;
-//#[cfg(feature = "dim2")]
-//use crate::objects::polyline::Polyline;
+use crate::objects::polyline::Polyline;
 use kiss3d::window::Window;
 use na::Point3;
 
@@ -26,8 +25,7 @@ pub enum Node {
     Box(Box),
     HeightField(HeightField),
     Capsule(Capsule),
-    //    #[cfg(feature = "dim2")]
-    //    Polyline(Polyline),
+    Polyline(Polyline),
     Mesh(Mesh),
     Convex(Convex),
     Cylinder(Cylinder),
@@ -42,8 +40,7 @@ impl Node {
             Node::Box(ref mut n) => n.select(),
             Node::Capsule(ref mut n) => n.select(),
             Node::HeightField(ref mut n) => n.select(),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref mut n) => n.select(),
+            Node::Polyline(ref mut n) => n.select(),
             Node::Mesh(ref mut n) => n.select(),
             Node::Convex(ref mut n) => n.select(),
             Node::Cylinder(ref mut n) => n.select(),
@@ -58,8 +55,7 @@ impl Node {
             Node::Box(ref mut n) => n.unselect(),
             Node::Capsule(ref mut n) => n.unselect(),
             Node::HeightField(ref mut n) => n.unselect(),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref mut n) => n.unselect(),
+            Node::Polyline(ref mut n) => n.unselect(),
             Node::Mesh(ref mut n) => n.unselect(),
             Node::Convex(ref mut n) => n.unselect(),
             Node::Cylinder(ref mut n) => n.unselect(),
@@ -74,8 +70,7 @@ impl Node {
             Node::Box(ref mut n) => n.update(colliders),
             Node::Capsule(ref mut n) => n.update(colliders),
             Node::HeightField(ref mut n) => n.update(colliders),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref mut n) => n.update(colliders),
+            Node::Polyline(ref mut n) => n.update(colliders),
             Node::Mesh(ref mut n) => n.update(colliders),
             Node::Convex(ref mut n) => n.update(colliders),
             Node::Cylinder(ref mut n) => n.update(colliders),
@@ -86,7 +81,7 @@ impl Node {
     #[cfg(feature = "dim2")]
     pub fn draw(&mut self, window: &mut Window) {
         match *self {
-            //                    Node::Polyline(ref mut n) => n.draw(_window),
+            Node::Polyline(ref mut n) => n.draw(window),
             Node::HeightField(ref mut n) => n.draw(window),
             //            Node::Plane(ref mut n) => n.draw(_window),
             _ => {}
@@ -139,8 +134,7 @@ impl Node {
             Node::Box(ref n) => n.object(),
             Node::Capsule(ref n) => n.object(),
             Node::HeightField(ref n) => n.object(),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref n) => n.object(),
+            Node::Polyline(ref n) => n.object(),
             Node::Mesh(ref n) => n.object(),
             Node::Convex(ref n) => n.object(),
             Node::Cylinder(ref n) => n.object(),
@@ -155,8 +149,7 @@ impl Node {
             Node::Box(ref mut n) => n.set_color(color),
             Node::Capsule(ref mut n) => n.set_color(color),
             Node::HeightField(ref mut n) => n.set_color(color),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref mut n) => n.set_color(color),
+            Node::Polyline(ref mut n) => n.set_color(color),
             Node::Mesh(ref mut n) => n.set_color(color),
             Node::Convex(ref mut n) => n.set_color(color),
             Node::Cylinder(ref mut n) => n.set_color(color),
diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs
index cdc0f21..98a8f24 100644
--- a/src_testbed/objects/polyline.rs
+++ b/src_testbed/objects/polyline.rs
@@ -1,38 +1,32 @@
 use kiss3d::window::Window;
-use na::{Isometry2, Point2, Point3};
-use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet};
-use parry2d::shape;
+use na::Point3;
+use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::{Isometry, Point};
 
 pub struct Polyline {
     color: Point3<f32>,
     base_color: Point3<f32>,
-    vertices: Vec<Point2<f32>>,
-    indices: Vec<Point2<usize>>,
-    collider: DefaultColliderHandle,
-    pos: Isometry2<f32>,
+    vertices: Vec<Point<f32>>,
+    indices: Vec<[u32; 2]>,
+    collider: ColliderHandle,
+    pos: Isometry<f32>,
 }
 
 impl Polyline {
     pub fn new(
-        collider: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        _: Isometry2<f32>,
-        vertices: Vec<Point2<f32>>,
-        indices: Vec<Point2<usize>>,
+        collider: ColliderHandle,
+        vertices: Vec<Point<f32>>,
+        indices: Vec<[u32; 2]>,
         color: Point3<f32>,
-        _: &mut Window,
     ) -> Polyline {
-        let mut res = Polyline {
+        Polyline {
             color,
-            pos: Isometry2::identity(),
+            pos: Isometry::identity(),
             base_color: color,
             vertices,
             indices,
             collider,
-        };
-
-        res.update(colliders);
-        res
+        }
     }
 
     pub fn select(&mut self) {
@@ -48,32 +42,26 @@ impl Polyline {
         self.base_color = color;
     }
 
-    pub fn update(&mut self, colliders: &DefaultColliderSet<f32>) {
-        // Update if some deformation occurred.
-        // FIXME: don't update if it did not move.
-        if let Some(c) = colliders.get(self.collider) {
-            self.pos = *c.position();
-            if let ColliderAnchor::OnDeformableBody { .. } = c.anchor() {
-                let shape = c.shape().as_shape::<shape::Polyline<f32>>().unwrap();
-                self.vertices = shape.points().to_vec();
-                self.indices.clear();
-
-                for e in shape.edges() {
-                    self.indices.push(e.indices);
-                }
-            }
-        }
+    pub fn update(&mut self, colliders: &ColliderSet) {
+        self.pos = colliders
+            .get(self.collider)
+            .map(|c| *c.position())
+            .unwrap_or(Isometry::identity());
     }
 
-    pub fn object(&self) -> DefaultColliderHandle {
+    pub fn object(&self) -> ColliderHandle {
         self.collider
     }
 
     pub fn draw(&mut self, window: &mut Window) {
         for idx in &self.indices {
-            let p1 = self.pos * self.vertices[idx.x];
-            let p2 = self.pos * self.vertices[idx.y];
-            window.draw_planar_line(&p1, &p2, &self.color)
+            let p1 = self.pos * self.vertices[idx[0] as usize];
+            let p2 = self.pos * self.vertices[idx[1] as usize];
+
+            #[cfg(feature = "dim2")]
+            window.draw_planar_line(&p1, &p2, &self.color);
+            #[cfg(feature = "dim3")]
+            window.draw_line(&p1, &p2, &self.color);
         }
     }
 }